LiDAR echo signal processing method and device, computer device, and storage medium

Abstract

A LiDAR echo signal processing method is disclosed. The method includes: receiving an echo signal reflected by a to-be-detected object, where the echo signal includes multidimensional signal emission angles; buffering the echo signal based on the multidimensional signal emission angles to obtain buffered signals; when the number of buffered signals reaches a preset buffering number, extracting a target signal corresponding to a preset neighborhood window from the buffered signals; and performing non-coherent integration on the target signal and outputting the integrated target signal.

What is claimed is: 
     
         1 . A LiDAR echo signal processing method, comprising:
 receiving an echo signal reflected by a to-be-detected object, wherein an emission angle of a detection signal corresponding to the echo signal includes a pitch angle and a yaw angle;   buffering the echo signal based on the pitch angle and the yaw angle to obtain buffered signals;   in response to the number of buffered signals reaching a preset buffering number, extracting a target signal corresponding to a preset neighborhood window from the buffered signals; and   performing non-coherent integration on the target signal and outputting the integrated target signal,   wherein buffering the echo signal based on the pitch angle and the yaw angle comprises:
 determining a preset memory corresponding to the echo signal based on the pitch angle, the yaw angle and a signal receiving sequence of echo signals; and 
 buffering the echo signal into the corresponding preset memory. 
   
     
     
         2 . The method according to  claim 1 , further comprising:
 arranging a plurality of preset memories into a plurality of storage rows, wherein each preset memory corresponds to one storage row, and is configured to store echo signals that correspond to a preset receiving sequence and have the same first emission angle; and   correspondingly arranging storage columns of the plurality of preset memories to obtain a plurality of matrix columns, wherein each matrix column is configured to store the echo signals with the same second emission angle.   
     
     
         3 . The method according to  claim 2 , wherein the method further comprises:
 determining the number of storage rows of the preset neighborhood window based on the number of storage rows corresponding to the plurality of preset memories, wherein each storage row of the preset neighborhood window is configured to store the buffered signals in the preset signal receiving sequence that is extracted from the preset memory; and   based on the storage column of the plurality of preset memories, correspondingly storing the buffered signals stored in the storage row of the preset neighborhood window.   
     
     
         4 . The method according to  claim 1 , wherein in response to the number of buffered signals reaching a preset buffering number, the extracting a target signal corresponding to a preset neighborhood window from the buffered signals comprises:
 in response to the number of buffered signals reaching the preset buffering number, extracting a history signal from the buffered signals based on the preset signal receiving sequence and a preset extraction number; and   obtaining a target signal corresponding to the preset neighborhood window based on the extracted history signal.   
     
     
         5 . The method according to  claim 1 , wherein the performing non-coherent integration on the target signal comprises:
 obtaining a corresponding signal sequence based on the target signal;   determining a signal length corresponding to the target signal in the signal sequence; and   performing non-coherent integration on the target signal based on the signal length corresponding to the target signal and a preset relationship.   
     
     
         6 . The method according to  claim 1 , wherein before the buffering the echo signal based on the pitch angle and the yaw angle, the method further comprises:
 amplifying the received echo signal to obtain an amplified echo signal;   performing analog-to-digital conversion on the amplified echo signal to obtain a converted digital signal; and   filtering the converted digital signal.   
     
     
         7 . The method according to  claim 1 , wherein the echo signal comprises a signal receiving sequence, and the method further comprises:
 in response to the number of received echo signals exceeding the preset buffering number, using echo signals outnumbered in comparison with the buffering number as to-be-processed signals;   determining a first signal corresponding to a next preset emission period based on an earliest echo signal in a signal receiving sequence in the buffered signals, and overwriting the earliest echo signal in the signal receiving sequence based on the first signal;   determining a second signal corresponding to the next preset emission period based on the first signal in the buffered signals, and overwriting the first signal based on the second signal;   re-performing the step of overwriting a signal in the buffered signals, and overwriting a buffered signal in the previous preset emission period with a buffered signal in the current preset emission period in the buffered signals until a corresponding buffered signal in the previous preset emission period is overwritten with the to-be-processed signal; and   extracting the target signal corresponding to the preset neighborhood window from the overwritten buffered signal.   
     
     
         8 . A LiDAR echo signal processing device, comprising:
 a receiving module, configured to receive an echo signal reflected by a to-be-detected object, wherein an emission angle of a detection signal corresponding to the echo signal includes a pitch angle and a yaw angle;   a buffering module, configured to buffer the echo signal based on the pitch angle and the yaw angle to obtain buffered signals;   an extraction module, configured to, in response to the number of buffered signals reaching a preset buffering number, extract a target signal corresponding to a preset neighborhood window from the buffered signals; and   an integration module, configured to perform non-coherent integration on the target signal and output the integrated target signal,   wherein the buffering module is further configured to determine a preset memory corresponding to the echo signal based on the pitch angle, the yaw angle and a signal receiving sequence of echo signals, and buffer the echo signal into the corresponding preset memory.   
     
     
         9 . The device according to  claim 8 , wherein the device further comprises:
 an arrangement module, configured to arrange a plurality of preset memories into a plurality of storage rows, wherein each preset memory corresponds to one storage row, and is configured to store echo signals that correspond to a preset receiving sequence and have the same first emission angle; and   correspondingly arrange storage columns of the plurality of preset memories to obtain a plurality of matrix columns, wherein each matrix column is used to store the echo signals at the same second emission angle.   
     
     
         10 . The device according to  claim 9 , wherein the device further comprises:
 a determining module, configured to determine the number of storage rows of the preset neighborhood window based on the number of storage rows corresponding to the plurality of preset memories, wherein each storage row of the preset neighborhood window is configured to store the buffered signals in the preset signal receiving sequence that is extracted from the preset memory; and   based on the storage column of the plurality of preset memories, correspondingly store the buffered signals stored in the storage row of the preset neighborhood window.   
     
     
         11 . The device according to  claim 8 , wherein the extraction module is further configured to:
 in response to the number of buffered signals reaching the preset buffering number, extract a history signal from the buffered signals based on the preset signal receiving sequence and a preset extraction number; and   obtain a target signal corresponding to the preset neighborhood window based on the extracted history signal.   
     
     
         12 . The device according to  claim 8 , wherein the integration module is further configured to:
 obtain a corresponding signal sequence based on the target signal;   determine a signal length corresponding to the target signal in the signal sequence; and   perform non-coherent integration on the target signal based on the signal length corresponding to the target signal and a preset relationship.   
     
     
         13 . The device according to  claim 8 , wherein the device further comprises:
 a preprocessing module, configured to:
 amplify the received echo signal to obtain an amplified echo signal; 
 perform analog-to-digital conversion on the amplified echo signal to obtain a converted digital signal; and 
 filter the converted digital signal. 
   
     
     
         14 . The device according to  claim 8 , wherein the device further comprises:
 an overwriting module, configured to: in response to the number of received echo signals exceeding the preset buffering number,
 use echo signals outnumbered in comparison with the buffering number as to-be- processed signals; 
 determine a first signal corresponding to a next preset emission period based on an earliest echo signal in a signal receiving sequence in the buffered signals, and overwrite the earliest echo signal in the signal receiving sequence based on the first signal; 
 determine a second signal corresponding to the next preset emission period based on the first signal in the buffered signals, and overwrite the first signal based on the second signal; 
 re-perform the step of overwriting a signal in the buffered signals, and overwrite a buffered signal in the previous preset emission period with a buffered signal in the current preset emission period in the buffered signals until a corresponding buffered signal in the previous preset emission period is overwritten with the to-be-processed signal; and 
 extract the target signal corresponding to the preset neighborhood window from the overwritten buffered signal. 
   
     
     
         15 . A computer device, comprising a memory and one or more processors, wherein the memory stores computer-readable instructions, and when executed by the one or more processors, the computer-readable instructions enable the one or more processors to perform:
 receiving an echo signal reflected by a to-be-detected object, wherein an emission angle of a detection signal corresponding to the echo signal includes a pitch angle and a yaw angle;   buffering the echo signal based on the pitch angle and the yaw angle to obtain buffered signals;   in response to the number of buffered signals reaching a preset buffering number, extracting a target signal corresponding to a preset neighborhood window from the buffered signals; and   performing non-coherent integration on the target signal and outputting the integrated target signal;   wherein buffering the echo signal based on the pitch angle and the yaw angle comprises:
 determining a preset memory corresponding to the echo signal based on the pitch angle, the yaw angle and a signal receiving sequence of echo signals; and 
 buffering the echo signal into the corresponding preset memory.